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https://github.com/OpenSquawk/OpenSquawk
synced 2026-08-08 02:25:36 +08:00
first try with graph
This commit is contained in:
najajan
@@ -1,195 +1,81 @@
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import { defineEventHandler, getQuery } from 'h3'
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import https from 'node:https'
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type Node = { id: number; lat: number; lon: number }
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type Edge = { from: number; to: number; len: number; ref: string; wayId?: number }
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type Way = { id: number; geometry: Array<{ lat: number; lon: number }>; label: string }
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type Segment = { aId: number; bId: number; a: Node; b: Node; ref: string; wayId: number }
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export default defineEventHandler(async (event) => {
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const q = getQuery(event)
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const oLat = Number(q.origin_lat)
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const oLon = Number(q.origin_lng)
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const dLat = Number(q.dest_lat)
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const dLon = Number(q.dest_lng)
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const radius = Number(q.radius ?? 2000)
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const m = (a:{lat:number;lon:number}, b:{lat:number;lon:number})=>{
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const lat0=(a.lat+b.lat)*0.5, kx=Math.cos(lat0*Math.PI/180)*111320, ky=110540
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const dx=(b.lon-a.lon)*kx, dy=(b.lat-a.lat)*ky
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return Math.hypot(dx,dy)
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}
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const overpassAround = (lat:number, lon:number, radius:number) => `
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[out:json][timeout:60];
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const endpoint = 'https://overpass-api.de/api/interpreter'
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const overpassQ = `
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[out:json][timeout:90];
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(
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way["aeroway"="taxiway"](around:${radius},${lat},${lon});
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way["highway"="service"]["service"="taxiway"](around:${radius},${lat},${lon});
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way["aeroway"="taxiway"](around:${radius},${oLat},${oLon});
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way["aeroway"="taxiway"](around:${radius},${dLat},${dLon});
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);
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out tags geom;
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`
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const buildWays = (els:any[]): Way[] =>
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(els||[])
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.filter((el:any)=>el.type==='way' && el.geometry?.length>=2)
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.map((el:any)=>({ id: el.id, geometry: el.geometry, label: (el.tags?.ref || el.tags?.name || `TWY-${el.id}`) }))
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(._;>;);
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out body;
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`
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function buildGraph(ways: Way[]){
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const nodes=new Map<number,Node>(), adj=new Map<number,Edge[]>(), segments: Segment[]=[]
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let nid=1
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const push=(e:Edge)=>{ if(!adj.has(e.from)) adj.set(e.from,[]); adj.get(e.from)!.push(e) }
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for(const w of ways){
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let prevId:number|undefined, prev:Node|undefined
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for(const p of w.geometry){
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const id=nid++, n:Node={id,lat:p.lat,lon:p.lon}; nodes.set(id,n)
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if(prevId && prev){
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const len=m(prev,n)
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push({from:prevId,to:id,len,ref:w.label,wayId:w.id})
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push({from:id,to:prevId,len,ref:w.label,wayId:w.id})
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segments.push({aId:prevId,bId:id,a:prev,b:n,ref:w.label,wayId:w.id})
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}
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prevId=id; prev=n
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function fetchOverpass(query: string) {
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return new Promise<any>((resolve, reject) => {
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const req = https.request(endpoint, {
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method: 'POST',
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headers: { 'Content-Type': 'application/x-www-form-urlencoded' }
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}, res => {
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let data = ''
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res.on('data', d => (data += d))
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res.on('end', () => {
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if (res.statusCode !== 200) return reject(new Error(`HTTP ${res.statusCode}`))
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resolve(JSON.parse(data))
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})
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})
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req.on('error', reject)
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req.write('data=' + encodeURIComponent(query))
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req.end()
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})
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}
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function haversine(a: any, b: any) {
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const R = 6371000
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const toRad = (d: number) => d * Math.PI / 180
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const dLat = toRad(b.lat - a.lat)
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const dLon = toRad(b.lon - a.lon)
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const la1 = toRad(a.lat), la2 = toRad(b.lat)
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const s = Math.sin(dLat/2)**2 + Math.cos(la1)*Math.cos(la2)*Math.sin(dLon/2)**2
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return 2 * R * Math.asin(Math.sqrt(s))
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}
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function buildGraph(osm: any) {
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const nodes = new Map<number, any>()
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const edges: any[] = []
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for (const el of osm.elements) {
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if (el.type === 'node') nodes.set(el.id, { id: el.id, lat: el.lat, lon: el.lon })
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}
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}
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return { nodes, adj, segments, nextId: Math.max(...nodes.keys())+1 }
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}
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function connectClose(nodes:Map<number,Node>, adj:Map<number,Edge[]>, maxDist:number){
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if(maxDist<=0) return
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const arr=Array.from(nodes.values()); const N=arr.length; if(N>9000) return
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const push=(e:Edge)=>{ if(!adj.has(e.from)) adj.set(e.from,[]); adj.get(e.from)!.push(e) }
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for(let i=0;i<N;i++) for(let j=i+1;j<N;j++){
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const a=arr[i], b=arr[j], d=m(a,b)
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if(d>0 && d<=maxDist){ push({from:a.id,to:b.id,len:d,ref:'stitch'}); push({from:b.id,to:a.id,len:d,ref:'stitch'}) }
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}
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}
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function proj(p:{lat:number;lon:number}, a:Node, b:Node){
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const lat0=(a.lat+b.lat)*0.5, kx=Math.cos(lat0*Math.PI/180)*111320, ky=110540
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const bx=(b.lon-a.lon)*kx, by=(b.lat-a.lat)*ky
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const px=(p.lon-a.lon)*kx, py=(p.lat-a.lat)*ky
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const seg2=bx*bx+by*by
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let t= seg2===0?0:(px*bx+py*by)/seg2; t=Math.max(0,Math.min(1,t))
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const qx=bx*t, qy=by*t
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return { q:{lat:a.lat+qy/ky, lon:a.lon+qx/kx}, dist:Math.hypot(px-qx,py-qy) }
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}
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function snapToOSMSegment(p:{lat:number;lon:number}, g:{nodes:Map<number,Node>,adj:Map<number,Edge[]>,segments:Segment[],nextId:number}){
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let best:null|{seg:Segment,q:{lat:number;lon:number},dist:number}=null
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for(const s of g.segments){ const pr=proj(p,s.a,s.b); if(!best||pr.dist<best.dist) best={seg:s,q:pr.q,dist:pr.dist} }
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const idVirt=g.nextId++; const virt:Node={id:idVirt,lat:p.lat,lon:p.lon}; g.nodes.set(idVirt,virt)
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if(!best) return { virtualId:idVirt, midId:null, attachLabel:'snap', attachDist:null, attachCoord:null }
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const idMid=g.nextId++; const mid:Node={id:idMid,lat:best.q.lat,lon:best.q.lon}; g.nodes.set(idMid,mid)
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const push=(e:Edge)=>{ if(!g.adj.has(e.from)) g.adj.set(e.from,[]); g.adj.get(e.from)!.push(e) }
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const remove=(from:number,to:number)=>{
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const L=g.adj.get(from); if(!L) return
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for(let i=L.length-1;i>=0;i--) if(L[i].from===from && L[i].to===to && L[i].ref!=='stitch' && L[i].ref!=='snap') L.splice(i,1)
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}
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const {aId,bId,a,b,ref,wayId}=best.seg
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remove(aId,bId); remove(bId,aId)
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const lenAM=m(a,mid), lenMB=m(mid,b), lenPM=m(virt,mid)
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push({from:aId,to:idMid,len:lenAM,ref,wayId})
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push({from:idMid,to:aId,len:lenAM,ref,wayId})
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push({from:idMid,to:bId,len:lenMB,ref,wayId})
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push({from:bId,to:idMid,len:lenMB,ref,wayId})
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push({from:idVirt,to:idMid,len:lenPM,ref:'snap'})
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push({from:idMid,to:idVirt,len:lenPM,ref:'snap'})
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const idx=g.segments.findIndex(s=>s.aId===aId && s.bId===bId)
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if(idx>=0) g.segments.splice(idx,1,{aId, bId:idMid, a, b:mid, ref, wayId},{aId:idMid, bId, a:mid, b, ref, wayId})
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return { virtualId:idVirt, midId:idMid, attachLabel:ref, attachDist:Math.round(lenPM), attachCoord:{lat:mid.lat,lon:mid.lon} }
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}
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function astar(start:number, goal:number, adj:Map<number,Edge[]>, nodes:Map<number,Node>){
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const h=(x:number)=> m(nodes.get(x)!, nodes.get(goal)!)
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const open: Array<[number,number]> = []
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const g=new Map<number,number>(), came=new Map<number,{node:number;edge:Edge}>()
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const push=(f:number,n:number)=>{ open.push([f,n]); open.sort((a,b)=>a[0]-b[0]) }
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g.set(start,0); push(h(start), start)
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const seen=new Set<number>()
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while(open.length){
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const [,u]=open.shift()!
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if(u===goal) break
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if(seen.has(u)) continue; seen.add(u)
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for(const e of (adj.get(u)||[])){
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const v=e.to, tentative=(g.get(u)??Infinity)+e.len
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if(tentative < (g.get(v)??Infinity)){
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g.set(v,tentative); came.set(v,{node:u,edge:e}); push(tentative + h(v), v)
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for (const w of osm.elements.filter((e: any) => e.type === 'way')) {
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const name = w.tags?.name || w.tags?.ref || null
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for (let i = 0; i < w.nodes.length - 1; i++) {
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const a = nodes.get(w.nodes[i])
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const b = nodes.get(w.nodes[i + 1])
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if (!a || !b) continue
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const d = haversine(a, b)
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edges.push({ u: a.id, v: b.id, w: d, way_id: w.id, name })
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edges.push({ u: b.id, v: a.id, w: d, way_id: w.id, name })
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}
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}
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}
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if(!came.has(goal)) return null
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const nodesPath=[goal], edges:Edge[]=[]
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for(let cur=goal; cur!==start; ){ const p=came.get(cur)!; edges.push(p.edge); nodesPath.push(p.node); cur=p.node }
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nodesPath.reverse(); edges.reverse()
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return { nodes: nodesPath, edges, distance: Math.round(g.get(goal)!) }
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}
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export default defineEventHandler(async (event)=>{
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const q=getQuery(event)
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const oLat=Number(q.origin_lat), oLon=Number(q.origin_lng)
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const dLat=Number(q.dest_lat), dLon=Number(q.dest_lng)
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const radius=Math.max(1200,Math.min(15000,Number(q.radius)||7000))
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let connect=Math.max(0,Math.min(50,Number(q.connect)||12))
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const connectMax=Math.max(connect, Math.min(80, Number(q.connect_max)||48))
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const connectStep=Math.max(4, Math.min(20, Number(q.connect_step)||8))
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if(!isFinite(oLat)||!isFinite(oLon)||!isFinite(dLat)||!isFinite(dLon))
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return { ok:false, message:'params missing', distance_straight_m:null }
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const straight=Math.round(m({lat:oLat,lon:oLon},{lat:dLat,lon:dLon}))
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const [r1,r2]=await Promise.all([
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fetch('https://overpass-api.de/api/interpreter',{method:'POST',headers:{'Content-Type':'application/x-www-form-urlencoded'},body:'data='+encodeURIComponent(overpassAround(oLat,oLon,radius))}),
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fetch('https://overpass-api.de/api/interpreter',{method:'POST',headers:{'Content-Type':'application/x-www-form-urlencoded'},body:'data='+encodeURIComponent(overpassAround(dLat,dLon,radius))})
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])
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if(!r1.ok||!r2.ok){
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const t1=r1.ok?'':await r1.text().catch(()=>''), t2=r2.ok?'':await r2.text().catch(()=>'')
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return { ok:false, message:`overpass ${r1.status}/${r2.status}`, distance_straight_m: straight, error: (t1||t2) }
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}
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const ways=[...buildWays((await r1.json()).elements), ...buildWays((await r2.json()).elements)]
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if(!ways.length) return { ok:false, message:'no taxiways found', distance_straight_m: straight, nodes_with_distance: [] }
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const g=buildGraph(ways)
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const s=snapToOSMSegment({lat:oLat,lon:oLon}, g)
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const d=snapToOSMSegment({lat:dLat,lon:dLon}, g)
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let path=null
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while(connect<=connectMax && !path){
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connectClose(g.nodes, g.adj, connect)
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path=astar(s.virtualId!, d.virtualId!, g.adj, g.nodes)
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if(!path) connect += connectStep
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return { nodes: [...nodes.values()], edges }
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}
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const nodes_with_distance = Array.from(g.nodes.values()).map(n=>({
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id:n.id, lat:n.lat, lon:n.lon,
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label: (g.adj.get(n.id)?.[0]?.ref) || 'stitch/snap',
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d_from_start_m: Math.round(m({lat:oLat,lon:oLon}, n)),
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d_from_dest_m: Math.round(m({lat:dLat,lon:dLon}, n)),
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}))
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if(!path){
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return {
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ok:false,
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message:'no path found (after segment-snap/A*)',
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distance_straight_m: straight,
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chosen: {
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start_attach: { label: s.attachLabel, distance_m: s.attachDist, coord: s.attachCoord },
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dest_attach: { label: d.attachLabel, distance_m: d.attachDist, coord: d.attachCoord }
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},
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nodes_with_distance
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}
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}
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const coords = path.nodes.map(id=>{ const n=g.nodes.get(id)!; return [n.lon,n.lat] as [number,number] })
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const steps: Array<{ref:string; length_m:number}> = []
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for(let i=0;i<path.edges.length;){
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const ref=path.edges[i].ref; let len=0, j=i
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for(; j<path.edges.length && path.edges[j].ref===ref; j++) len+=path.edges[j].len
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steps.push({ref, length_m: Math.round(len)}); i=j
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}
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const instructions = steps.map((s,idx)=> (idx===0?'Taxi':'Continue on') + ` ${s.ref} for ${s.length_m} m`)
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const osm = await fetchOverpass(overpassQ)
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const graph = buildGraph(osm)
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return {
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ok:true,
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message:'route found',
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distance_straight_m: straight,
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chosen: {
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start_attach: { label: s.attachLabel, distance_m: s.attachDist, coord: s.attachCoord },
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dest_attach: { label: d.attachLabel, distance_m: d.attachDist, coord: d.attachCoord }
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},
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distance_m: path.distance,
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steps, instructions,
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nodes_with_distance,
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path: { type:'Feature', properties:{ distance_m: path.distance }, geometry:{ type:'LineString', coordinates: coords } }
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origin: { lat: oLat, lon: oLon },
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dest: { lat: dLat, lon: dLon },
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graph
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}
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})
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